#define CMD_SET_MOTOR_A_TICKSSPEED (1)
#define CMD_SET_MOTOR_B_TICKSSPEED (2)

#define CMD_SET_MOTOR_A_KP   (4)
#define CMD_SET_MOTOR_A_KI   (5)
#define CMD_SET_MOTOR_A_KD   (6)

#define CMD_SET_PID_SAMPLETIME (7)

#define CMD_SET_MOTOR_B_KP   (8)
#define CMD_SET_MOTOR_B_KI   (9)
#define CMD_SET_MOTOR_B_KD   (10)

#define CMD_SET_DIR (11)
  
#define CMD_SET_SERVO_0_POSITION (12)

#define CMD_SET_DIR_FACTOR (13)
#define CMD_GET_MOTOR_A_DISTANCE (14)
#define CMD_GET_MOTOR_B_DISTANCE (15)

#define CMD_GET_DISTANCESENSOR_MEASURE (16)

#define CMD_GET_MOTOR_A_TICKSPEED (17)
#define CMD_GET_MOTOR_B_TICKSPEED (18)

#define CMD_GET_SAMPLETIME_TO_SMALL (19)
#define CMD_SET_MOVE_DISTANCE (21)
#define CMD_GET_LAST_CYCLE_TIME (22)

#define CMD_SET_DIR_KP (23)
#define CMD_SET_DIR_KI (24)
#define CMD_SET_DIR_KD (25)
#define CMD_SET_DIR_TICKSPEED (26)
#define CMD_MOVE_STRAIGHT (27)

#define CMD_SET_DIRSPEED_KP   (28)
#define CMD_SET_DIRSPEED_KI   (29)
#define CMD_SET_DIRSPEED_KD   (30)

#define CMD_GET_POSITION_Y_ERROR (31)

#define CMD_START_POSITION (32)
#define CMD_GET_POSITION_X (33)
#define CMD_GET_POSITION_Y (34)
#define CMD_GET_POSITION_THETA (35)

#define CMD_SET_DIR_CALIBRATION (36)

char ResponseLength[] = {0,
0,//CMD_SET_MOTOR_A_TICKSSPEED (1)
0,//CMD_SET_MOTOR_B_TICKSSPEED (2)
0,//No Cmd.              (3))
0,//CMD_SET_MOTOR_A_KP   (4)
0,//CMD_SET_MOTOR_A_KI   (5)
0,//CMD_SET_MOTOR_A_KD   (6)
0,//CMD_SET_PID_SAMPLETIME (7)
0,//CMD_SET_MOTOR_B_KP   (8)
0,//CMD_SET_MOTOR_B_KI   (9)
0,//CMD_SET_MOTOR_B_KD   (10)
0,//CMD_SET_DIR (11)
0,//CMD_SET_SERVO_0_POSITION (12)
0,//CMD_SET_DIR_FACTOR (13)
4,//CMD_GET_MOTOR_A_DISTANCE (14)
4,//CMD_GET_MOTOR_B_DISTANCE (15)
4,//CMD_GET_DISTANCESENSOR_MEASURE (16)
4,//CMD_GET_MOTOR_A_TICKSPEED (17)
4,//CMD_GET_MOTOR_B_TICKSPEED (18)
4,//CMD_GET_SAMPLETIME_TO_SMALL (19)
0,//No Cmd.               (20)
0,//CMD_SET_MOVE_DISTANCE (21)
4,//CMD_GET_LAST_CYCLE_TIME (22)
0,//CMD_SET_DIR_KP (23)
0,//CMD_SET_DIR_KI (24)
0,//CMD_SET_DIR_KD (25)
0,//CMD_SET_DIR_TICKSPEED (26)
0,//CMD_MOVE_STRAIGHT (27)
0, //CMD_SET_DIRSPEED_KP   (28)
0, //CMD_SET_DIRSPEED_KI   (29)
0, //CMD_SET_DIRSPEED_KD   (30)
4, //CMD_GET_POSITION_Y_ERROR (31)
4, //CMD_START_POSITION (32)
4, //CMD_GET_POSITION_X (33)
4, //CMD_GET_POSITION_Y (34)
4, //CMD_GET_POSITION_THETA (35)
0, //CMD_SET_DIR_CALIBRATION (36)
};
